CN112919121B

CN112919121B - AGV transfer robot with rotary lifting mechanism

Info

Publication number: CN112919121B
Application number: CN202110253161.1A
Authority: CN
Inventors: 彭银华; 张红卫; 李晋; 邱会龙; 夏仕平
Original assignee: Shenzhen Wellwit Robotics Co ltd
Current assignee: Shenzhen Wellwit Robotics Co ltd
Priority date: 2021-03-03
Filing date: 2021-03-03
Publication date: 2021-10-08
Anticipated expiration: 2041-03-03
Also published as: CN112919121A

Abstract

The invention discloses a rotary lifting mechanism and an AGV (automatic guided vehicle) carrying robot, which comprise a lifting mechanism, a rotating mechanism and a grabbing mechanism, wherein the rotating mechanism is arranged above the lifting mechanism, the grabbing mechanism is in threaded connection with the rotating mechanism through a bolt, and the lifting mechanism comprises a first supporting vertical plate; the invention relates to the technical field of transportation. According to the rotary lifting mechanism and the AGV transfer robot, most of the existing transfer robots can only rotate on one plane, free movement cannot be realized at certain angles and positions, and the common transfer robots often carry and drop some important articles due to the fact that the common transfer robots are not stable enough during transfer, so that transfer efficiency is influenced, and meanwhile, great economic loss is caused.

Description

AGV transfer robot with rotary lifting mechanism

Technical Field

The invention relates to the technical field of transportation, in particular to an AGV (automatic guided vehicle) transporting robot with a rotary lifting mechanism.

Background

An automated guided vehicle (abbreviated as an AGV robot) is a transport vehicle that has an electromagnetic or optical automatic guide device, can travel along a predetermined path, and has safety protection and various transfer functions. The transport vehicle adopts a full-automatic control mode to replace manpower, saves manpower, is convenient to use, is widely applied to the logistics transportation industry, and at present, a rotary lifting mechanism adopted in an AGV robot is an electric push rod mechanism, an electro-hydraulic push rod mechanism or an X-shaped double-rod mechanism.

Most of the existing transfer robots can only rotate on one plane, free movement cannot be realized at certain angles and positions, and common transfer robots often carry important articles and fall down due to insufficient stability during transfer, so that transfer efficiency is affected, and great economic loss is caused.

Disclosure of Invention

The invention provides an AGV (automatic guided vehicle) transfer robot with a rotary lifting mechanism, aiming at overcoming the defects of the prior art, and solving the problems that most of the existing transfer robots can only rotate on one plane, certain angles and positions cannot realize free movement, and common transfer robots often carry and drop some important articles due to instability during transfer, so that the transfer efficiency is influenced, and meanwhile, great economic loss is caused.

In order to achieve the purpose, the invention is realized by the following technical scheme: an AGV (automatic guided vehicle) carrying robot with a rotary lifting mechanism comprises a lifting mechanism, a rotating mechanism and a grabbing mechanism, wherein the rotating mechanism is arranged above the lifting mechanism, the grabbing mechanism is in threaded connection with the rotating mechanism through bolts, and the lifting mechanism comprises a first supporting vertical plate; the top of the first supporting vertical plate is fixedly connected with a first bearing platform through bolts, the number of the first supporting vertical plates is two, the two first supporting vertical plates are symmetrically distributed at two sides of the bottom of the first bearing platform, the bottom of the first bearing platform is fixedly connected with a first motor through bolts, the output end of the first motor penetrates through the inner cavity of the first bearing platform and extends to the top of the first bearing platform, the top of the first bearing platform is fixedly connected with a second supporting vertical plate, the top of the second supporting vertical plate is fixedly connected with a second bearing platform, the number of the second supporting vertical plates is two, the two second supporting vertical plates are uniformly distributed at two sides of the bottom of the second bearing platform, the inner cavity of the second bearing platform is rotatably connected with a lifter, the bottom of the sleeve platform is fixedly connected with a lifter, the surface of the lifter penetrates through the inner cavity of the second bearing platform and extends to the bottom of the second supporting vertical plate, and the inner cavity of the lifter is in transmission connection with the output end of the first motor, the fixed surface of second cushion cap is connected with the stopper, the stopper is provided with two, two the both sides evenly distributed of stopper at second cushion cap top, the top fixedly connected with plane circulator of cover platform, the top fixedly connected with third cushion cap of plane circulator, first support of bolt fixedly connected with and second support are passed through at the top of third cushion cap, the surface of first support is passed through the bolt fixedly connected with balancing weight, first support and second support are located the both sides of plane circulator respectively, the first limiting plate of bottom fixedly connected with and the second limiting plate of third cushion cap, the right side fixedly connected with mount of second support, the right side fixedly connected with second motor of mount, the output axle head of second motor runs through the surface of mount and extends to its inside.

As a further scheme of the invention: the rotating mechanism comprises a rotating frame; the utility model discloses a rotary frame, including revolving frame, first rotary rod, second rotary rod, the surface of first rotary rod and the surface of first support are rotated and are connected, the right side of revolving frame and the surface rotation of second rotary rod are connected, the surface of second rotary rod runs through the second support and extends to the inner chamber of mount, the surface of second rotary rod and the output shaft end of second motor rotate and are connected, the surface threaded connection of revolving frame has first threaded rod and second threaded rod, first threaded rod is provided with two, two first threaded rod all runs through the surface of revolving frame and extends to its opposite side, the second threaded rod is provided with two, two the second threaded rod all runs through the surface of revolving frame and extends to its opposite side, the inner chamber of revolving frame is through first threaded rod and second threaded rod fixedly connected with machinery platform, the surface of machinery platform is seted up threaded hole, and the bottom of the inner cavity of the mechanical table is fixedly connected with a transverse reinforcing rib and a vertical reinforcing rib.

As a further scheme of the invention: the grabbing mechanism comprises a base; the top of the base is rotatably connected with a turntable, the top of the turntable is fixedly connected with a first connecting frame, the surface of the first connecting frame is fixedly connected with a first mechanical arm and a second mechanical arm, the surface of the first mechanical arm is fixedly connected with a first controller through a bolt, the surface of the second mechanical arm is fixedly connected with a second controller through a bolt, the output shaft end of the first controller is in transmission connection with a first operating lever, the output shaft end of the second controller is in transmission connection with a second operating lever, the right side of the first operating lever is movably connected with a limiting handle, the right side of the limiting handle is movably connected with the surface of the second operating lever, one end of the first mechanical arm is fixedly connected with a second connecting frame, the surface of the second connecting frame is fixedly connected with a third controller, and the output shaft end of the third controller is in transmission connection with an upper mechanical arm and a lower mechanical arm, the surface of the upper manipulator is provided with a first groove, and the surface of the lower manipulator is provided with a second groove.

As a further scheme of the invention: the transverse reinforcing ribs are arranged in a plurality and are uniformly distributed in the inner cavity of the mechanical table.

As a further scheme of the invention: the first limiting plate and the second limiting plate are both located above the second bearing platform.

As a further scheme of the invention: the first mechanical arm is located on the left side of the top of the first connecting plate, and the second mechanical arm is located on the right side of the top of the first connecting plate.

As a further scheme of the invention: the bottom of the base is fixedly connected with the bottom of the inner cavity of the mechanical table through bolts, and the surface of the base is movably connected with the surface of the inner cavity of the mechanical table.

As a further scheme of the invention: the rotary lifting mechanism and the working method of the AGV transfer robot comprise the following steps:

step one, equipment inspection: the method comprises the following steps that a first motor of a lifting mechanism is started, an output shaft end of the first motor rotates to drive a lifter to rotate, the lifter is lifted upwards through rotation, the lifter is rotatably connected with an inner cavity of a second bearing platform, the contact condition of the lifter and the inner cavity of the second bearing platform is detected, normal rotation is guaranteed, a sleeve platform is fixedly connected to the top end of the lifter, the sleeve platform is lifted normally and rotates, the sleeve platform drives a third bearing platform to rotate, when the third bearing platform rotates, a first limiting plate and a second limiting plate are abutted to two limiting devices, the second motor is started, and an output shaft end of the second motor drives a rotating frame to rotate;

step two, starting working: the method comprises the steps that a first motor and a second motor in operation continuously operate, a first control machine and a second controller are opened, the first controller drives a first mechanical arm and a first operating rod to move, the second controller drives a second mechanical arm and a second operating rod to move, a third controller is opened, the third controller drives an upper mechanical arm and a lower mechanical arm to move, the upper mechanical arm moves downwards, the lower mechanical arm moves upwards, when a first groove of the upper mechanical arm and a second groove of the lower mechanical arm clamp an object block simultaneously, the first controller and the second controller respectively control the first mechanical arm and the second mechanical arm to carry out carrying, and multidirectional moving is achieved through a lifting mechanism and a rotating mechanism.

Advantageous effects

The invention provides an AGV (automatic guided vehicle) carrying robot with a rotary lifting mechanism. Compared with the prior art, the method has the following beneficial effects:

1. an AGV transfer robot with a rotary lifting mechanism comprises a lifting mechanism, a rotating mechanism and a grabbing mechanism, wherein the rotating mechanism is arranged above the lifting mechanism, the grabbing mechanism is in threaded connection with the rotating mechanism through bolts, and the lifting mechanism comprises a first supporting vertical plate; the top of the first supporting vertical plate is fixedly connected with a first bearing platform through bolts, the number of the first supporting vertical plate is two, the two first supporting vertical plates are symmetrically distributed at two sides of the bottom of the first bearing platform, the bottom of the first bearing platform is fixedly connected with a first motor through bolts, the output end of the first motor penetrates through the inner cavity of the first bearing platform and extends to the top of the first bearing platform, the top of the first bearing platform is fixedly connected with a second supporting vertical plate, the top of the second supporting vertical plate is fixedly connected with a second bearing platform, the number of the second supporting vertical plate is two, the two second supporting vertical plates are uniformly distributed at two sides of the bottom of the second bearing platform, the inner cavity of the second bearing platform is rotatably connected with a lifter, the bottom of the sleeve platform is fixedly connected with a lifter, the surface of the lifter penetrates through the inner cavity of the second bearing platform and extends to the bottom of the second bearing platform, the inner cavity of the lifter is in transmission connection with the output end of the first motor, the surface of the second bearing platform is fixedly connected with a stopper, the two limiters are uniformly distributed on two sides of the top of the second bearing platform, the top of the sleeve platform is fixedly connected with a plane rotator, the top end of the plane rotator is fixedly connected with a third bearing platform, the top of the third bearing platform is fixedly connected with a first bracket and a second bracket through bolts, the surface of the first bracket is fixedly connected with a balancing weight through bolts, the first bracket and the second bracket are respectively positioned on two sides of the plane rotator, the bottom of the third bearing platform is fixedly connected with a first limiting plate and a second limiting plate, the right side of the second bracket is fixedly connected with a fixing frame, the right side of the fixing frame is fixedly connected with a second motor, the output shaft end of the second motor penetrates through the surface of the fixing frame and extends into the fixing frame, most of the existing transfer robots can only rotate on one plane, free movement cannot be realized at certain angles and positions, and the transfer robots are not stable enough during transfer, the carrying robot can realize multi-angle free rotation, adopts a humanoid hand structure during grabbing, can grab heavy objects more closely and powerfully, and greatly improves the carrying efficiency.

2. An AGV transfer robot having a rotary lift mechanism includes a rotary frame by a rotary mechanism; the left side of the rotating frame is fixedly connected with a first rotating rod and a second rotating rod, the surface of the first rotating rod is rotatably connected with the surface of the first support, the right side of the rotating frame is rotatably connected with the surface of the second rotating rod, the surface of the second rotating rod penetrates through the second support and extends to the inner cavity of the fixing frame, the surface of the second rotating rod is rotatably connected with the output shaft end of a second motor, the surface of the rotating frame is in threaded connection with a first threaded rod and a second threaded rod, the first threaded rod is provided with two threaded rods, the two first threaded rods both penetrate through the surface of the rotating frame and extend to the other side of the surface of the rotating frame, the inner cavity of the rotating frame is fixedly connected with a mechanical platform through the first threaded rod and the second threaded rod, the surface of the mechanical platform is provided with threaded holes, and the bottom of the inner cavity of the mechanical platform is fixedly connected with a transverse reinforcing rib and a vertical reinforcing rib, by such a rotation mechanism, multidirectional rotation of the mechanism is achieved.

3. An AGV transfer robot with a rotary lifting mechanism comprises a base through a grabbing mechanism; the top of the base is rotatably connected with a turntable, the top of the turntable is fixedly connected with a first connecting frame, the surface of the first connecting frame is fixedly connected with a first mechanical arm and a second mechanical arm, the surface of the first mechanical arm is fixedly connected with a first controller through a bolt, the surface of the second mechanical arm is fixedly connected with a second controller through a bolt, the output shaft end of the first controller is in transmission connection with a first operating rod, the output shaft end of the second controller is in transmission connection with a second operating rod, the right side of the first operating rod is movably connected with a limit handle, the right side of the limit handle is movably connected with the surface of the second operating rod, one end of the first mechanical arm is fixedly connected with a second connecting frame, the surface of the second connecting frame is fixedly connected with a third controller, the output shaft end of the third controller is in transmission connection with an upper mechanical arm and a lower mechanical arm, the surface of the upper mechanical arm is provided with a first groove, the second recess has been seted up on the surface of lower manipulator, adopts the manipulator of imitative staff like this to increased anti-skidding structure, frictional force when can promoting snatching, thereby the risk of falling when reducing and snatching has also reduced economic loss.

Drawings

FIG. 1 is a schematic view of the external structural connection between the lifting mechanism and the rotating mechanism according to the present invention;

FIG. 2 is a schematic view of a part of the lifting mechanism of the present invention;

FIG. 3 is a schematic view of a part of the lifting mechanism of the present invention;

FIG. 4 is a schematic view of a partial structure of a rotating mechanism according to the present invention;

FIG. 5 is a schematic view of a partial structure of the grasping mechanism according to the present invention;

fig. 6 is a schematic structural diagram of the mechanical table of the present invention.

In the figure: 1. a lifting mechanism; 2. a rotation mechanism; 3. a grabbing mechanism; 11. a first supporting vertical plate; 12. a first bearing platform; 13. a first motor; 14. a second supporting vertical plate; 15. a second platform; 16. sleeving a platform; 17. a lifter; 18. a stopper; 19. a plane rotator; 110. a third bearing platform; 111. a first bracket; 112. a second bracket; 113. a balancing weight; 114. a first limit plate; 115. a second limiting plate; 116. a fixed mount; 117. a second motor; 21. rotating the frame; 22. a first rotating rod; 23. a second rotating rod; 24. a first threaded rod; 25. a second threaded rod; 26. a machine table; 27. a threaded hole; 28. transverse reinforcing ribs; 29. a vertical reinforcing rib; 31. a base; 32. a turntable; 33. a first connecting frame; 34. a first robot arm; 35. a second mechanical arm; 36. a first controller; 37. a second controller; 38. a first joystick; 39. a second joystick; 310. a limiting handle; 311. a second link frame; 312. a third controller; 313. an upper manipulator; 314. a lower manipulator; 315. a first groove; 316. a second groove.

Detailed Description

The technical solutions in the embodiments of the present invention will be clearly and completely described below with reference to the drawings in the embodiments of the present invention, and it is obvious that the described embodiments are only a part of the embodiments of the present invention, and not all of the embodiments. All other embodiments, which can be derived by a person skilled in the art from the embodiments given herein without making any creative effort, shall fall within the protection scope of the present invention.

Referring to fig. 1-6, the present invention provides a technical solution: an AGV transfer robot with a rotary lifting mechanism comprises a lifting mechanism 1, a rotating mechanism 2 and a grabbing mechanism 3, wherein the rotating mechanism 2 is arranged above the lifting structure, the grabbing mechanism 3 is in threaded connection with the rotating mechanism 2 through bolts, the lifting mechanism 1 comprises a first supporting vertical plate 11, the top of the first supporting vertical plate 11 is fixedly connected with a first supporting platform 12 through bolts, the number of the first supporting vertical plate 11 is two, the two first supporting vertical plates 11 are symmetrically distributed at two sides of the bottom of the first supporting platform 12, the bottom of the first supporting platform 12 is fixedly connected with a first motor 13 through bolts, the output end of the first motor 13 penetrates through the inner cavity of the first supporting platform 12 and extends to the top of the first supporting platform 12, the top of the first supporting platform 12 is fixedly connected with a second supporting vertical plate 14, the top of the second supporting vertical plate 14 is fixedly connected with a second supporting platform 15, the number of the second supporting vertical plate 14 is two, the two second supporting vertical plates 14 are uniformly distributed at two sides of the bottom of the second supporting platform 15, the inner cavity of the second bearing platform 15 is rotatably connected with the lifter 17, the bottom of the sleeve platform 16 is fixedly connected with the lifter 17, the surface of the lifter 17 penetrates through the inner cavity of the second bearing platform 15 and extends to the bottom of the inner cavity, the inner cavity of the lifter 17 is in transmission connection with the output end of the first motor 13, the surface of the second bearing platform 15 is fixedly connected with two stoppers 18, the two stoppers 18 are uniformly distributed on two sides of the top of the second bearing platform 15, the top of the sleeve platform 16 is fixedly connected with a plane rotator 19, the top of the plane rotator 19 is fixedly connected with a third bearing platform 110, the top of the third bearing platform 110 is fixedly connected with a first support 111 and a second support 112 through bolts, the surface of the first support 111 is fixedly connected with a balancing weight 113 through bolts, the first support 111 and the second support 112 are respectively located on two sides of the plane rotator 19, the bottom of the third bearing platform 110 is fixedly connected with a first limiting plate 114 and a second limiting plate 115, the right side of the second bracket 112 is fixedly connected with a fixed frame 116, the right side of the fixed frame 116 is fixedly connected with a second motor 117, the output shaft end of the second motor 117 penetrates through the surface of the fixed frame 116 and extends into the fixed frame, the rotating mechanism 2 comprises a rotating frame 21, the left side of the rotating frame 21 is fixedly connected with a first rotating rod 22 and a second rotating rod 23, the surface of the first rotating rod 22 is rotatably connected with the surface of the first bracket 111, the right side of the rotating frame 21 is rotatably connected with the surface of the second rotating rod 23, the surface of the second rotating rod 23 penetrates through the second bracket 112 and extends into the inner cavity of the fixed frame 116, the surface of the second rotating rod 23 is rotatably connected with the output shaft end of the second motor 117, the surface of the rotating frame 21 is in threaded connection with a first threaded rod 24 and a second threaded rod 25, two first threaded rods 24 are arranged, both first threaded rods 24 penetrate through the surface of the rotating frame 21 and extend to the other side thereof, the number of the second threaded rods 25 is two, the two second threaded rods 25 penetrate through the surface of the rotary frame 21 and extend to the other side of the rotary frame, a mechanical table 26 is fixedly connected to the inner cavity of the rotary frame 21 through a first threaded rod 24 and a second threaded rod 25, a threaded hole 27 is formed in the surface of the mechanical table 26, a transverse reinforcing rib 28 and a vertical reinforcing rib 29 are fixedly connected to the bottom of the inner cavity of the mechanical table 26, the grabbing mechanism 3 comprises a base 31, a rotary table 32 is rotatably connected to the top of the base 31, a first connecting frame 33 is fixedly connected to the top of the rotary table 32, a first mechanical arm 34 and a second mechanical arm 35 are fixedly connected to the surface of the first connecting frame 33, a first controller 36 is fixedly connected to the surface of the first mechanical arm 34 through a bolt, a second controller 37 is fixedly connected to the surface of the second mechanical arm 35 through a bolt, and a first operating lever 38 is connected to the output shaft end of the first controller 36 in a transmission manner, the output shaft end of the second controller 37 is connected with a second operating lever 39 in a transmission manner, the right side of the first operating lever 38 is movably connected with a limit handle 310, the right side of the limit handle 310 is movably connected with the surface of the second operating lever 39, one end of the first mechanical arm 34 is fixedly connected with a second connecting frame 311, the surface of the second connecting frame 311 is fixedly connected with a third controller 312, the output shaft end of the third controller 312 is connected with an upper manipulator 313 and a lower manipulator 314 in a transmission manner, the surface of the upper manipulator 313 is provided with a first groove 315, the surface of the lower manipulator 314 is provided with a second groove 316, the plurality of transverse reinforcing ribs 28 are uniformly distributed in the inner cavity of the mechanical platform 26, the first limiting plate 114 and the second limiting plate 115 are both positioned above the second bearing platform 15, the first mechanical arm 34 is positioned on the left side of the top of the first connecting plate, the second mechanical arm 35 is positioned on the right side of the top of the first connecting plate, the bottom of the base 31 is fixedly connected with the bottom of the inner cavity of the mechanical table 26 through bolts, and the surface of the base 31 is movably connected with the surface of the inner cavity of the mechanical table 26.

The rotary lifting mechanism and the working method of the AGV transfer robot comprise the following steps:

step one, equipment inspection: the first motor 13 of the lifting mechanism 1 is opened, the output shaft end of the first motor 13 rotates to drive the lifter 17 to rotate, the lifter 17 rises upwards through rotation, the lifter 17 is rotatably connected with the inner cavity of the second bearing platform 15, the contact condition of the lifter 17 and the inner cavity of the second bearing platform 15 is detected, normal rotation is guaranteed, the top end of the lifter 17 is fixedly connected with the sleeve platform 16, the sleeve platform 16 rises normally and rotates, the sleeve platform 16 drives the third bearing platform 110 to rotate, when the third bearing platform 110 rotates, the first limiting plate 114 and the second limiting plate 115 are mutually abutted with the two limiting devices 18, the second motor 117 is opened, and the output shaft end of the second motor 117 drives the rotating frame 21 to rotate;

step two, starting working: the first motor 13 and the second motor 117 in operation are continuously operated, the first control machine and the second controller 37 are opened, the first controller 36 drives the first mechanical arm 34 and the first operating rod 38 to move, the second controller 37 drives the second mechanical arm 35 and the second operating rod 39 to move, the third controller 312 is opened, the third controller 312 drives the upper mechanical arm 313 and the lower mechanical arm 314 to move, the upper mechanical arm 313 moves downwards, the lower mechanical arm 314 moves upwards, when the first groove 315 of the upper mechanical arm 313 and the second groove 316 of the lower mechanical arm 314 clamp the object block simultaneously, the first controller 36 and the second controller 37 respectively control the first mechanical arm 34 and the second mechanical arm 35 to carry out transportation, and multi-directional movement is realized through the lifting mechanism 1 and the rotating mechanism 2.

When the invention is used, the first motor 13 of the lifting mechanism 1 is turned on, the output shaft end of the first motor 13 rotates to drive the lifter 17 to rotate, the lifter 17 is lifted upwards through rotation, the lifter 17 is rotatably connected with the inner cavity of the second bearing platform 15, the contact condition of the lifter 17 and the inner cavity of the second bearing platform 15 is detected and normal rotation is ensured, the top end of the lifter 17 is fixedly connected with the sleeve platform 16, the sleeve platform 16 is normally lifted and rotated, the sleeve platform 16 drives the third bearing platform 110 to rotate, when the third bearing platform 110 rotates, the first limiting plate 114 and the second limiting plate 115 are mutually abutted with the two limiters 18, the second motor 117 is turned on, the output shaft end of the second motor 117 drives the rotating frame 21 to rotate, the first motor 13 and the second motor 117 in operation are continuously operated, the first control machine and the second control machine 37 are turned on, the first control machine 36 drives the first mechanical arm 34 and the first operating lever 38 to move, the second controller 37 drives the second mechanical arm 35 and the second operating lever 39 to move, the third controller 312 is opened, the third controller 312 drives the upper mechanical arm 313 and the lower mechanical arm 314 to move, the upper mechanical arm 313 moves downwards, the lower mechanical arm 314 moves upwards, when the first groove 315 of the upper mechanical arm 313 and the second groove 316 of the lower mechanical arm 314 clamp the object simultaneously, the first controller 36 and the second controller 37 respectively control the first mechanical arm 34 and the second mechanical arm 35 to carry out conveying, and multi-directional movement is realized through the lifting mechanism 1 and the rotating mechanism 2.

In the description of the present invention, it is to be understood that the terms "upper", "lower", "left", "right", and the like, indicate orientations or positional relationships based on the orientations or positional relationships shown in the drawings, are only for convenience in describing the present invention and simplifying the description, and do not indicate or imply that the referred device or element must have a specific orientation and a specific orientation configuration and operation, and thus, should not be construed as limiting the present invention. Furthermore, "first" and "second" are used for descriptive purposes only and are not to be construed as indicating or implying relative importance or implicitly indicating the number of technical features indicated. Thus, a feature defined as "first" or "second" may explicitly or implicitly include one or more of that feature. In the description of the present invention, "a plurality" means two or more unless otherwise specified.

In the description of the present invention, it should be noted that, unless otherwise explicitly specified or limited, the terms "mounted," "connected," and the like are to be construed broadly and may be, for example, fixedly connected, detachably connected, or integrally connected; can be mechanically or electrically connected; they may be directly connected or indirectly connected through an intermediate member, or they may be connected through two or more elements. The specific meanings of the above terms in the present invention can be understood in specific cases to those skilled in the art.

While one embodiment of the present invention has been described in detail, the description is only a preferred embodiment of the present invention and should not be taken as limiting the scope of the invention. All equivalent changes and modifications made within the scope of the present invention shall fall within the scope of the present invention.

Claims

1. The utility model provides a AGV transfer robot with rise mechanism soon, includes elevating system (1), rotary mechanism (2) and snatchs mechanism (3), rotary mechanism (2) set up in elevating system's top, snatch mechanism (3) and rotary mechanism (2) and pass through bolt threaded connection, its characterized in that: the lifting mechanism (1) comprises a first supporting vertical plate (11);

the top of the first supporting vertical plate (11) is fixedly connected with a first bearing platform (12) through bolts, the number of the first supporting vertical plates (11) is two, the two first supporting vertical plates (11) are symmetrically distributed on two sides of the bottom of the first bearing platform (12), the bottom of the first bearing platform (12) is fixedly connected with a first motor (13) through bolts, the output end of the first motor (13) penetrates through the inner cavity of the first bearing platform (12) and extends to the top of the first bearing platform, the top of the first bearing platform (12) is fixedly connected with a second supporting vertical plate (14), the top of the second supporting vertical plate (14) is fixedly connected with a second bearing platform (15), the number of the second supporting vertical plates (14) is two, the two second supporting vertical plates (14) are uniformly distributed on two sides of the bottom of the second bearing platform (15), the inner cavity of the second bearing platform (15) is rotatably connected with a lifter (17), the bottom of the sleeve platform (16) is fixedly connected with a lifter (17), the surface of the lifter (17) penetrates through the inner cavity of the second bearing platform (15) and extends to the bottom of the inner cavity, the inner cavity of the lifter (17) is in transmission connection with the output end of the first motor (13), the surface of the second bearing platform (15) is fixedly connected with two limiters (18), the two limiters (18) are uniformly distributed on two sides of the top of the second bearing platform (15), the top of the sleeve platform (16) is fixedly connected with a plane rotator (19), the top of the plane rotator (19) is fixedly connected with a third bearing platform (110), the top of the third bearing platform (110) is fixedly connected with a first support (111) and a second support (112) through bolts, the surface of the first support (111) is fixedly connected with a balancing weight (113) through bolts, first support (111) and second support (112) are located the both sides of plane circulator (19) respectively, the first limiting plate of bottom fixedly connected with (114) and second limiting plate (115) of third cushion cap (110), the right side fixedly connected with mount (116) of second support (112), the right side fixedly connected with second motor (117) of mount (116), the output axle head of second motor (117) runs through the surface of mount (116) and extends to its inside.

2. An AGV transfer robot having a rotary lift mechanism according to claim 1, further comprising: the rotating mechanism (2) comprises a rotating frame (21);

the utility model discloses a rotary frame, including rotatory frame (21) left side fixedly connected with first rotary rod (22) and second rotary rod (23), the surface of first rotary rod (22) is connected with the surface rotation of first support (111), the right side of rotatory frame (21) is connected with the surface rotation of second rotary rod (23), the surface of second rotary rod (23) runs through second support (112) and extends to the inner chamber of mount (116), the surface of second rotary rod (23) is connected with the output shaft end rotation of second motor (117), the surface threaded connection of rotatory frame (21) has first threaded rod (24) and second threaded rod (25), first threaded rod (24) are provided with two, two first threaded rod (24) all run through the surface of rotatory frame (21) and extend to its opposite side, second threaded rod (25) are provided with two, two second threaded rod (25) all run through the surface of rotatory frame (21) and extend to its opposite side, the inner chamber of rotatory frame (21) is through first threaded rod (24) and second threaded rod (25) fixedly connected with machinery platform (26), threaded hole (27) are seted up on the surface of machinery platform (26), the bottom fixedly connected with of machinery platform (26) inner chamber is horizontal strengthening rib (28) and vertical strengthening rib (29).

3. An AGV transfer robot having a rotary lift mechanism according to claim 2, further comprising: the grabbing mechanism (3) comprises a base (31);

the top of the base (31) is rotatably connected with a turntable (32), the top of the turntable (32) is fixedly connected with a first connecting frame (33), the surface of the first connecting frame (33) is fixedly connected with a first mechanical arm (34) and a second mechanical arm (35), the surface of the first mechanical arm (34) is fixedly connected with a first controller (36) through a bolt, the surface of the second mechanical arm (35) is fixedly connected with a second controller (37) through a bolt, the output shaft end of the first controller (36) is in transmission connection with a first operating lever (38), the output shaft end of the second controller (37) is in transmission connection with a second operating lever (39), the right side of the first operating lever (38) is movably connected with a limit handle (310), the right side of the limit handle (310) is movably connected with the surface of the second operating lever (39), one end of the first mechanical arm (34) is fixedly connected with a second connecting frame (311), the surface of the second connecting frame (311) is fixedly connected with a third controller (312), an output shaft end of the third controller (312) is in transmission connection with an upper manipulator (313) and a lower manipulator (314), a first groove (315) is formed in the surface of the upper manipulator (313), and a second groove (316) is formed in the surface of the lower manipulator (314).

4. An AGV handling robot having a lift mechanism according to claim 3, wherein: the transverse reinforcing ribs (28) are arranged in a plurality, and the plurality of transverse reinforcing ribs (28) are uniformly distributed in the inner cavity of the mechanical table (26).

5. An AGV transfer robot having a rotary lift mechanism according to claim 1, further comprising: the first limiting plate (114) and the second limiting plate (115) are both located above the second bearing platform (15).

6. An AGV handling robot having a lift mechanism according to claim 3, wherein: the first mechanical arm (34) is positioned on the left side of the top of the first connecting plate, and the second mechanical arm (35) is positioned on the right side of the top of the first connecting plate.

7. An AGV handling robot having a lift mechanism according to claim 3, wherein: the bottom of the base (31) is fixedly connected with the bottom of the inner cavity of the mechanical table (26) through bolts, and the surface of the base (31) is movably connected with the surface of the inner cavity of the mechanical table (26).

8. An AGV transfer robot having a rotary lift mechanism according to claim 1, further comprising: the rotary lifting mechanism and the working method of the AGV transfer robot comprise the following steps:

step one, equipment inspection: the method comprises the steps that a first motor (13) of a lifting mechanism (1) is opened, an output shaft end of the first motor (13) rotates to drive a lifter (17) to rotate, the lifter (17) rises upwards through rotation, the lifter (17) is rotatably connected with an inner cavity of a second bearing platform (15), the contact condition of the lifter (17) and the inner cavity of the second bearing platform (15) is detected, normal rotation is guaranteed, a sleeve platform (16) is fixedly connected to the top end of the lifter (17), the sleeve platform (16) normally rises and rotates, the sleeve platform (16) drives a third bearing platform (110) to rotate, when the third bearing platform (110) rotates, a first limiting plate (114) and a second limiting plate (115) are mutually abutted to two limiting devices (18), the second motor (117) is opened, and the output shaft end of the second motor (117) drives a rotating frame (21) to rotate;

step two, starting working: the method comprises the following steps of continuously operating a first motor (13) and a second motor (117) in operation, opening a first control machine and a second controller (37), driving a first mechanical arm (34) and a first operating rod (38) to move by a first controller (36), driving a second mechanical arm (35) and a second operating rod (39) to move by a second controller (37), opening a third controller (312), driving an upper mechanical arm (313) and a lower mechanical arm (314) to move by a third controller (312), driving the upper mechanical arm (313) to move downwards, and driving the lower mechanical arm (314) to move upwards, when the first groove (315) of the upper robot (313) and the second groove (316) of the lower robot (314) simultaneously grip the object, the first robot arm (34) and the second robot arm (35) are controlled by a first controller (36) and a second controller (37) respectively to carry out the conveyance, and multi-directional movement is realized through the lifting mechanism (1) and the rotating mechanism (2).